Figure 5

The following script was used to generate the graphs of Figure 5 of the article "Behavioral Diversity Generation in Autonomous Exploration Through Reuse of Past Experience" by Fabien C. Y. Benureau and Pierre-Yves Oudeyer.

The full code is available and is distributed under the Open Science License. For any questions, remarks or difficulties running this code, contact fabien.benureau@gmail.com.

In [1]:
import experiments

import dotdot
import graphs

from fig5_cluster import planar

expcfgs = planar()
results = experiments.load_results(expcfgs, 'tcov', mask=(True, False, True))

graphs.output_notebook()
graphs.reuse_quantiles(results, y_max=3.268)

exp: data loaded in /Users/fabien/research/data/frontiers2016/planar_arms/[kin_reuse][rmb50.rgb.p0.05][kin20_150_p_0.9]/[kin_reuse][rmb50.rgb.p0.05][kin20_150_p_0.9].100.tcov.r.d
exp: data loaded in /Users/fabien/research/data/frontiers2016/planar_arms/[kin_reuse][rmb50.rgb.p0.05][kin20_150][reuse_50_1.0_20_p0.05][kin20_150_p_0.9]/[kin_reuse][rmb50.rgb.p0.05][kin20_150][reuse_50_1.0_20_p0.05][kin20_150_p_0.9].100.tcov.r.d

Provenance Data

The cluster provenance code examines all the exploration data files of this experiment to check and compare their embedded provenance data.

In [2]:
import provenance
prov_data = provenance.cluster(planar()) # this may take a minute or two.
print(prov_data.message())

All the code involved in the cluster computation was commited during job execution.
Every job was run with the same code version.

The cluster jobs were launched with commit: 3ae43f48a7ceabcbccd754c1714f89be0c5dd35c.

Installed research packages during cluster jobs execution:
    fastlearners [870e9d472f50c0920b66b8f10df1823dbcd9d659]
    clusterjobs  [7505201203af95d3b1074d751c0afac76f3cc619]
    environments [f1937e2ab3a381b29c6a096c9e676d502ed84ce7]
    scicfg       [63c4c5c794114ed1606124806b55aa6a56ecb689]
    experiments  [b9a12430484626db1140e1ae33bd11921f388112]
    learners     [c43380e0e0cd7e6f914dbd9cd2e62e1d87003abc]
    explorers    [1d284f3b1479b935f94b99b8e12c1e9432963421]

Installed third-party python packages during cluster jobs execution:
    scipy 0.17.0
    numpy 1.10.4
    shapely 1.5.13
    sklearn 0.17

Installed third-party non-python packages during cluster jobs execution:
    geos 3.5.0

Cluster jobs were executed with:
    CPython 2.7.11 ('default', 'Jan 31 2016 09:15:49')
    [GCC 4.8.2]

This notebook was executed with code commit: efe8d71f8242d148d3d1825f0157a48b458eb1d9.